DE112021005924T5 - Route-verfolgungsvorrichtung, route-verfolgungsverfahren und route-verfolgungsprogramm - Google Patents
Route-verfolgungsvorrichtung, route-verfolgungsverfahren und route-verfolgungsprogramm Download PDFInfo
- Publication number
- DE112021005924T5 DE112021005924T5 DE112021005924.6T DE112021005924T DE112021005924T5 DE 112021005924 T5 DE112021005924 T5 DE 112021005924T5 DE 112021005924 T DE112021005924 T DE 112021005924T DE 112021005924 T5 DE112021005924 T5 DE 112021005924T5
- Authority
- DE
- Germany
- Prior art keywords
- route
- mobility vehicle
- waypoint
- bend angle
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 40
- PWPJGUXAGUPAHP-UHFFFAOYSA-N lufenuron Chemical compound C1=C(Cl)C(OC(F)(F)C(C(F)(F)F)F)=CC(Cl)=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F PWPJGUXAGUPAHP-UHFFFAOYSA-N 0.000 title 1
- 238000012795 verification Methods 0.000 claims description 30
- 238000004364 calculation method Methods 0.000 claims description 19
- 238000001514 detection method Methods 0.000 claims description 10
- 230000000694 effects Effects 0.000 description 10
- 238000004891 communication Methods 0.000 description 8
- 238000005452 bending Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 230000007774 longterm Effects 0.000 description 3
- 239000013598 vector Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0217—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with energy consumption, time reduction or distance reduction criteria
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2021/000864 WO2022153402A1 (ja) | 2021-01-13 | 2021-01-13 | 経路追従装置、経路追従方法および経路追従プログラム |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE112021005924T5 true DE112021005924T5 (de) | 2024-02-22 |
Family
ID=82448008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE112021005924.6T Pending DE112021005924T5 (de) | 2021-01-13 | 2021-01-13 | Route-verfolgungsvorrichtung, route-verfolgungsverfahren und route-verfolgungsprogramm |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20230273616A1 (ja) |
| JP (1) | JP7191281B1 (ja) |
| CN (1) | CN116802103A (ja) |
| DE (1) | DE112021005924T5 (ja) |
| WO (1) | WO2022153402A1 (ja) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012164691A1 (ja) | 2011-05-31 | 2012-12-06 | 株式会社日立製作所 | 自律移動システム |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005211442A (ja) * | 2004-01-30 | 2005-08-11 | Tottori Univ | 自律移動型車椅子 |
| JP6972792B2 (ja) * | 2017-09-04 | 2021-11-24 | 日産自動車株式会社 | 運転支援車両の走行制御方法及び走行制御装置 |
| JP2019108098A (ja) * | 2017-12-20 | 2019-07-04 | アイシン・エィ・ダブリュ株式会社 | 自動運転制御システムおよび自動運転制御プログラム |
| JP6947006B2 (ja) * | 2017-12-20 | 2021-10-13 | 株式会社アイシン | 自動運転制御システムおよび自動運転制御プログラム |
| JP7149568B2 (ja) * | 2018-07-06 | 2022-10-07 | パナソニックＩｐマネジメント株式会社 | 移動体制御システム、移動体システム、移動体制御方法、及びプログラム |
| JP2020148506A (ja) * | 2019-03-11 | 2020-09-17 | 本田技研工業株式会社 | 移動支援装置および移動支援システム |
-
2021
- 2021-01-13 JP JP2022556068A patent/JP7191281B1/ja active Active
- 2021-01-13 CN CN202180088717.4A patent/CN116802103A/zh active Pending
- 2021-01-13 WO PCT/JP2021/000864 patent/WO2022153402A1/ja active Application Filing
- 2021-01-13 DE DE112021005924.6T patent/DE112021005924T5/de active Pending
-
2023
- 2023-05-09 US US18/195,162 patent/US20230273616A1/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012164691A1 (ja) | 2011-05-31 | 2012-12-06 | 株式会社日立製作所 | 自律移動システム |
Also Published As
| Publication number | Publication date |
|---|---|
| US20230273616A1 (en) | 2023-08-31 |
| WO2022153402A1 (ja) | 2022-07-21 |
| JP7191281B1 (ja) | 2022-12-16 |
| CN116802103A (zh) | 2023-09-22 |
| JPWO2022153402A1 (ja) | 2022-07-21 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| R012 | Request for examination validly filed | ||
| R081 | Change of applicant/patentee |
Owner name: MITSUBISHI ELECTRIC CORPORATION, JP Free format text: FORMER OWNER: MITSUBISHI ELECTRIC CORPORATION, TOKYO, JP |